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Compass Gait. Kinematics Hybrid Dynamics Continuous + Discrete Impact 4 variables.

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Presentation on theme: "Compass Gait. Kinematics Hybrid Dynamics Continuous + Discrete Impact 4 variables."— Presentation transcript:

1 Compass Gait

2 Kinematics Hybrid Dynamics Continuous + Discrete Impact 4 variables

3 Must Simulate every point to get a “step-to-step” return map

4 Dynamic equations Single support ( Ѳ=[ Ѳns Ѳs ]’ ) M: inertia matrix N: centrifugal coefficients matrix S: torque selection matrix

5 Transition (assume instantaneous*) Angular momentum conserved

6 Stability Limit Cycle … stable => shrink to the same trajectory

7 Phase Portrait

8

9 Orbital Stability Limit Cycle stability Poincare Section eigen values stable

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